CN210139963U

CN210139963U - Oblique tail type multi-rotor aircraft

Info

Publication number: CN210139963U
Application number: CN201920363887.9U
Authority: CN
Inventors: 吕瑛; 马涛; 李郁; 李妍; 胡伟; 韩悦; 张明洲
Original assignee: NORTHWESTERN POLYTECHNICAL UNIVERSITY MING DE COLLEGE
Current assignee: NORTHWESTERN POLYTECHNICAL UNIVERSITY MING DE COLLEGE
Priority date: 2019-03-21
Filing date: 2019-03-21
Publication date: 2020-03-13
Anticipated expiration: 2029-03-21

Abstract

The utility model discloses a many rotor crafts of oblique tail formula, include and follow the total bottom plate that upwards connects gradually and form the cavity down, the fuselage main part, the fuselage roof, placed the battery box on the total bottom plate and fly the control panel, the fuselage main part highly inclines to the tail along the aircraft nose, the fuselage main part is cellular structure, total bottom plate bottom head is connected the camera, total bottom plate head bilateral symmetry is connected with left front wing, right front wing, total bottom plate afterbody both sides symmetric connection right back fin, left front wing, right back fin, all set up a motor on the back fin of a left side, propeller blade is all connected to every motor, battery box and flight control panel are all connected to every motor. Under the state that guarantees that the aircraft can fly safely, changed the position of arranging of aircraft rotor, when guaranteeing that the rotor can overcome the moment of torsion when rotating and be zero, improved aircraft flight gesture and aircraft nature controlled, adopted the oblique tail four-axis of civil aviation passenger plane type, increased sight and practicality.

Description

Oblique tail type multi-rotor aircraft

Technical Field

The utility model belongs to the technical field of the model aeroplane and model ship aircraft, concretely relates to oblique many rotor crafts of tail formula.

Background

Many rotor crafts of tradition, the lift of fuselage has not been controlled to motor and screw, the direction and the displacement of controlling the aircraft again, and the design of aircraft is too single, basically with four rotor symmetric distribution around the organism, four directions about, and the structure radius of four rotors all the same, such aircraft can only carry out simple flight and aviation shooting, when meetting wind-force, is difficult for receiving control, and power consumption is big.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a many rotor crafts of oblique tail formula has solved the monotonous problem of traditional four rotor crafts flight gesture.

The utility model provides a, a many rotor crafts of oblique tail formula, include and follow the total bottom plate that upwards connects gradually and form the cavity down, the fuselage main part, the fuselage roof, placed the battery box on the total bottom plate and fly the control panel, the fuselage main part highly inclines to the tail along the aircraft nose, the fuselage main part is the honeycomb structure, the camera is connected to total bottom plate bottom head, total bottom plate head bilateral symmetry has left front wing, right front wing, total bottom plate afterbody both sides symmetric connection right back fin, left front wing, right back fin, all set up a motor on the back fin, propeller blade is all connected to every motor, every motor all connects the battery box and flies the control panel.

The utility model discloses a characteristics still lie in:

six vertical upward hexagonal bracing pieces are evenly connected to total bottom plate top edge, and the fuselage main part is fixed in on the total bottom plate through hexagonal bracing piece.

The tail part of the main bottom plate is connected with a tail plate of the machine body, a V block is connected on the tail plate of the machine body, one side of the V block is connected with a right rear tail wing, and the other side of the V block is connected with a left rear tail wing.

The bottom end of the total bottom plate is connected with a foot rest.

The foot rest comprises a left support leg, a right support leg and a front support leg, the left support leg is connected to the lower portion of the left front wing, the right support leg is connected to the lower portion of the right front wing, and the front support leg is connected to the middle of the tail portion of the main bottom plate.

The utility model has the advantages that:

the utility model discloses a many rotor crafts of oblique tail formula is guaranteeing under the state that the aircraft can fly safely, has changed the position of arranging of aircraft rotor, when guaranteeing that the rotor can overcome the moment of torsion when rotating and be zero, improves aircraft flight gesture and aircraft controllability, has adopted the oblique tail four-axis of civil aviation passenger plane type, and the aesthetic measure obtains promoting, has increased sight and practicality. With four rotor wing position changes, make unmanned aerial vehicle all have very good performance in the aspect of nature controlled, reliability, simple structure moreover, the accessory is changed easily. The utility model discloses an adopt the modularized design, easily make up, dismouting and change accessory, portable and maintenance.

Drawings

Fig. 1 is a schematic structural view of a slant tail type multi-rotor aircraft according to the present invention;

fig. 2 is an exploded view of a slant tail multi-rotor aircraft according to the present invention;

fig. 3 is the utility model discloses a V block structure schematic diagram in oblique tail formula multi-rotor craft.

In the figure, 1_.

General bottom plate

_，2_.Fuselage main body _，3_.Top plate of machine body _,4. The camera, 5, the hexagonal bracing piece, 6, the fuselage tailboard, 7, the V piece, 8, right rear fin, 9, left rear fin, 10, left front fin, 11, right front fin, 12, the foot rest, 13, propeller blade, 14, the motor.

Detailed Description

The present invention will be described in detail with reference to the accompanying drawings and specific embodiments.

The utility model relates to a many rotor crafts of oblique tail formula, as shown in figure 1 and figure 2, include and follow the total bottom plate 1 that upwards connects gradually and form the cavity down, fuselage main part 2, fuselage roof 3, battery box and flight control board have been placed on total bottom plate 1, fuselage main part 2 highly inclines to the tail along the aircraft nose, fuselage main part 2 is the honeycomb structure, air resistance obtains reducing in flight, when fuselage weight alleviates greatly, structural strength obtains promoting, when misoperation or other reasons produce the crash, the fuselage can not break down, or when meetting the strong wind on the way in flight, can not produce too big skew, camera 4 is connected to total bottom plate 1 bottom head, at multiplicable cloud platform camera in camera position and infrared emitter, can carry out aerial photography task and barrier function. The transmission of real-time pictures can be carried out, and the damage rate can be reduced by avoiding collision of equipment in the working process through the obstacle avoidance function. The two sides of the head of the main bottom plate 1 are symmetrically connected with a left front wing 10 and a right front wing 11, the two sides of the tail of the main bottom plate 1 are symmetrically connected with a right rear tail wing 8 and a left rear tail wing 9, the left front wing 10, the right front wing 11, the right rear tail wing 8 and the left rear tail wing 9 are respectively provided with a motor 14, each motor 14 is connected with a propeller blade 13, and each motor 14 is connected with a battery box and a flight control panel.

Six vertical ascending hexagonal bracing pieces 5 are evenly connected to the upper edge of total bottom plate 1, and fuselage main part 2 is fixed in on total bottom plate 1 through hexagonal bracing piece 5.

The tail part of the main bottom plate 1 is connected with a tail plate 6 of the machine body, the tail plate 6 of the machine body is connected with a V-shaped block 7 as shown in figure 3, one side of the V-shaped block 7 is connected with a right rear tail wing 8, and the other side of the V-shaped block is connected with a left rear tail wing 9.

The bottom end of the general bottom plate 1 is connected with a foot rest 12.

The foot rest 12 comprises a left foot, a right foot and a front foot, the left foot is connected below the left front wing 10, the right foot is connected below the right front wing 11, and the front foot is connected in the middle of the tail of the main bottom plate 1.

The flight control panel is a control system of the aircraft.

The utility model relates to a many rotor crafts of oblique tail formula, the during operation, the motor 14 anticlockwise rotation simultaneously that left back fin 9 and left front wing 10 correspond, the motor 14 that right back fin 8, right front wing 11 correspond is corresponding clockwise turning. Because the motors are steered differently, both gyroscopic and aerodynamic torque effects are cancelled out when the aircraft is flying. The front and rear propeller blades 13 of the aircraft are in different horizontal positions, and the propeller blades 13 of the rear tail wing have inclination angles relative to the horizontal plane, so that the most basic flight of the aircraft can be realized, and the rotation can be realized by the rotation action.

The utility model discloses a tail formula aircraft compares with traditional flat four wing aircraft to one side, and tail formula rotor craft to one side has following advantage: the counter torque applied by each rotor to the fuselage is opposite to the rotation direction of the rotor, so that the front left motor 2 and the rear left motor 4 rotate clockwise while the front right motor 14 and the rear right motor 14 rotate counterclockwise, and the torque of the rotor to the fuselage can be balanced.

Under the control of the rotor, the basic motion states of the aircraft are respectively as follows:

(1) a vertical flight attitude; (2) a pitch attitude;

(3) rolling attitude; (4) yaw attitude;

(5) a forward and aft flight attitude; (6) a lateral flight attitude;

the various flight attitude principles of the aircraft will be explained below:

(1) vertical flight attitude: in the flying process, due to the opposite rotating directions of the two pairs of motors 14, the torque of the air to the aircraft body in the flying process can be balanced, when the output power of the four motors 14 is simultaneously increased, the rotating speed of the rotor wing is increased, so that the total torque borne by the aircraft is increased, and when the total torque is enough to offset the total weight of the whole aircraft, the aircraft can vertically fly; conversely, the output power of the four motors 14 is reduced simultaneously, and the quad-rotor aircraft descends vertically. This attitude of flight enables vertical flight of the aircraft along the z-axis. When the external interference is zero, the total lift force of the aircraft generated by the rotor wing is equal to the total dead weight of the aircraft, and the aircraft keeps a hovering state.

(2) Pitching motion: during the flight, the rotation speed of the front right motor 14 is increased, the rotation speed of the rear right motor 14 is decreased, and the rotation speeds of the front left motor 14 and the rear left motor 14 are kept unchanged. In order to change the overall torque and total tension of the four-rotor aircraft caused by the change of the rotor speed, the rotating speed variables of the front right propeller blade 13 and the rear right propeller blade 13 should be equal in magnitude. Since the lift force of the front right propeller blade 13 rises and the lift force of the rear right propeller blade 13 falls, the unbalanced moment generated causes the body to rotate around the y-axis. Similarly, when the rotation speed of the front right motor 14 is reduced, the rotation speed of the rear right motor 14 is increased, and the aircraft body rotates around the y axis in the other direction, so that the pitching motion of the aircraft is realized.

(3) Rolling movement: the same principle as the pitching flight principle is adopted, the rotating speeds of the front left motor 14 and the rear left motor 14 are changed, the rotating speeds of the front right motor 14 and the rear right motor 14 are kept unchanged, and the airframe can rotate (in the forward direction and the reverse direction) around the x axis, so that the rolling motion of the aircraft is realized.

(4) Yaw movement: yaw motion of a tiltrotor quad-rotor aircraft may be achieved by means of reactive torque generated by the tiltrotor rotors. The rotor rotates the in-process because air resistance effect can form with the anti-torque who rotates the opposite direction, in order to overcome the anti-torque influence, can make two corotation in four rotors, two reversal, and each rotor rotation direction of next year on the diagonal is the same.

The magnitude of the reactive torque is related to the rotating speed of the rotor wings, when the rotating speeds of the four motors 14 are the same, the reactive torques generated by the four rotor wings are mutually balanced, and the four-rotor aircraft does not rotate; when the four motors are not at the same speed, unbalanced reactive torque can cause the quad-rotor aircraft to rotate.

(5) Front and back movement: in order to realize the forward and backward and leftward and rightward movement of the aircraft in the horizontal plane, a certain force must be applied to the aircraft in the horizontal plane. And increasing the rotating speed of the rear right motor 14 in flight to increase the tension, correspondingly reducing the rotating speed of the front right motor 14 to reduce the tension, and simultaneously keeping the rotating speeds of the other two front left motors 14 and the rear left motor 14 unchanged and keeping the reactive torque balanced.

According to the theory of pitching flight, the aircraft firstly tilts to a certain degree, so that the tension of a rotor wing generates a horizontal component, and therefore the forward flight movement of the aircraft can be realized.

The backward flight is exactly the opposite of the forward flight. Of course, in flight, the aircraft generates horizontal motions along the x and y axes while generating pitch and roll motions.

(6) Lateral movement: in flight, due to the symmetrical structure, the working principle of the side flight is completely the same as that of the fore-and-aft movement.

To sum up, the utility model discloses a many rotor crafts of oblique tail formula is guaranteeing under the state that the aircraft can fly safely, has changed the position of arranging of aircraft rotor, when guaranteeing that the rotor can overcome the moment of torsion when rotating and be zero, improves aircraft flight gesture and aircraft nature controlled, has adopted the oblique tail four-axis of civil aviation passenger plane type, and the aesthetic measure obtains promoting, has increased sight and practicality. With four rotor wing position changes, make unmanned aerial vehicle all have very good performance in the aspect of nature controlled, reliability, simple structure moreover, the accessory is changed easily. The utility model discloses an adopt the modularized design, easily make up, dismouting and change accessory, portable and maintenance.

Claims

1. The oblique tail type multi-rotor aircraft is characterized by comprising a main bottom plate (1), a main body (2) and a top plate (3) which are sequentially connected from bottom to top and form a cavity, wherein a battery box and a flight control panel are placed on the main bottom plate (1), the main body (2) is inclined towards the tail along the nose, the main body (2) is of a honeycomb structure, the head of the bottom of the main bottom plate (1) is connected with a camera (4), the head of the main bottom plate (1) is symmetrically connected with a left front wing (10) and a right front wing (11), the tail of the main bottom plate (1) is symmetrically connected with a right rear tail wing (8) and a left rear tail wing (9) in two sides, the left front wing (10), the right front wing (11), the right rear tail wing (8) and the left rear tail wing (9) are respectively provided with a motor (14), and each motor (14) is connected with a propeller blade (13), each motor (14) is connected with the battery box and the flight control board.

2. The oblique tail type multi-rotor aircraft according to claim 1, wherein six hexagonal support rods (5) which are vertically upward are uniformly connected to the upper edge of the main bottom plate (1), and the main body (2) is fixed on the main bottom plate (1) through the hexagonal support rods (5).

3. The oblique tail type multi-rotor aircraft according to claim 1, wherein the tail part of the general bottom plate (1) is connected with a tail plate (6) of the aircraft body, a V-shaped block (7) is connected on the tail plate (6) of the aircraft body, one side of the V-shaped block (7) is connected with a right rear tail wing (8), and the other side of the V-shaped block is connected with a left rear tail wing (9).

4. A oblique tail multi-rotor aircraft according to claim 1, wherein the foot rests (12) are attached to the bottom end of the collective base plate (1).

5. The oblique tail multi-rotor aircraft according to claim 4, wherein the foot rest (12) comprises a left foot connected under the left front wing (10), a right foot connected under the right front wing (11), and a positive foot connected in the middle of the tail of the collective base plate (1).